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split out can tx logic (#1197) 

* move to can folder

* split out can rx

* only print in debug mode

* guard on feature flag

* split out tx

* headers

* headers

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2020-03-19 11:01:07 -07:00 committed by GitHub
parent a4b5570223
commit 30cdeb0d7f
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 216 additions and 150 deletions
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8
firmware/controllers/can/can.h
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@ -9,5 +9,13 @@
#include "hal.h"
#include "periodic_thread_controller.h"
class Logging;
void processCanRxMessage(const CANRxFrame& msg, Logging* logger);
class CanWrite final : public PeriodicController<256> {
public:
CanWrite();
void PeriodicTask(efitime_t nowNt) override;
};

143
firmware/controllers/can/can_dash.cpp Normal file
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@ -0,0 +1,143 @@
/**
* @file can_dash.cpp
*
* This file handles transmission of ECU data to various OE dashboards.
*
* @date Mar 19, 2020
* @author Matthew Kennedy, (c) 2020
*/
#include "globalaccess.h"
#if EFI_CAN_SUPPORT
#include "engine.h"
#include "can.h"
#include "can_hw.h"
#include "can_dash.h"
#include "allsensors.h"
#include "vehicle_speed.h"
EXTERN_ENGINE;
// CAN Bus ID for broadcast
/**
* e46 data is from http://forums.bimmerforums.com/forum/showthread.php?1887229
*
* Same for Mini Cooper? http://vehicle-reverse-engineering.wikia.com/wiki/MINI
*
* All the below packets are using 500kb/s
*
*/
#define CAN_BMW_E46_SPEED 0x153
#define CAN_BMW_E46_RPM 0x316
#define CAN_BMW_E46_DME2 0x329
#define CAN_BMW_E46_CLUSTER_STATUS 0x613
#define CAN_BMW_E46_CLUSTER_STATUS_2 0x615
#define CAN_FIAT_MOTOR_INFO 0x561
#define CAN_MAZDA_RX_RPM_SPEED 0x201
#define CAN_MAZDA_RX_STEERING_WARNING 0x300
#define CAN_MAZDA_RX_STATUS_1 0x212
#define CAN_MAZDA_RX_STATUS_2 0x420
// https://wiki.openstreetmap.org/wiki/VW-CAN
#define CAN_VAG_RPM 0x280
#define CAN_VAG_CLT 0x288
#define CAN_VAG_CLT_V2 0x420
#define CAN_VAG_IMMO 0x3D0
extern CANTxFrame txmsg;
static void setShortValue(CANTxFrame *txmsg, int value, int offset) {
txmsg->data8[offset] = value;
txmsg->data8[offset + 1] = value >> 8;
}
void canDashboardBMW(void) {
//BMW Dashboard
commonTxInit(CAN_BMW_E46_SPEED);
setShortValue(&txmsg, 10 * 8, 1);
sendCanMessage();
commonTxInit(CAN_BMW_E46_RPM);
setShortValue(&txmsg, (int) (GET_RPM() * 6.4), 2);
sendCanMessage();
commonTxInit(CAN_BMW_E46_DME2);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 1);
sendCanMessage();
}
void canMazdaRX8(void) {
commonTxInit(CAN_MAZDA_RX_STEERING_WARNING);
// todo: something needs to be set here? see http://rusefi.com/wiki/index.php?title=Vehicle:Mazda_Rx8_2004
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_RPM_SPEED);
float kph = getVehicleSpeed();
setShortValue(&txmsg, SWAP_UINT16(GET_RPM() * 4), 0);
setShortValue(&txmsg, 0xFFFF, 2);
setShortValue(&txmsg, SWAP_UINT16((int )(100 * kph + 10000)), 4);
setShortValue(&txmsg, 0, 6);
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_STATUS_1);
txmsg.data8[0] = 0xFE; //Unknown
txmsg.data8[1] = 0xFE; //Unknown
txmsg.data8[2] = 0xFE; //Unknown
txmsg.data8[3] = 0x34; //DSC OFF in combo with byte 5 Live data only seen 0x34
txmsg.data8[4] = 0x00; // B01000000; // Brake warning B00001000; //ABS warning
txmsg.data8[5] = 0x40; // TCS in combo with byte 3
txmsg.data8[6] = 0x00; // Unknown
txmsg.data8[7] = 0x00; // Unused
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_STATUS_2);
txmsg.data8[0] = (uint8_t)(getCoolantTemperature() + 69); //temp gauge //~170 is red, ~165 last bar, 152 centre, 90 first bar, 92 second bar
txmsg.data8[1] = ((int16_t)(engine->engineState.vssEventCounter*(engineConfiguration->vehicleSpeedCoef*0.277*2.58))) & 0xff;
txmsg.data8[2] = 0x00; // unknown
txmsg.data8[3] = 0x00; //unknown
txmsg.data8[4] = 0x01; //Oil Pressure (not really a gauge)
txmsg.data8[5] = 0x00; //check engine light
txmsg.data8[6] = 0x00; //Coolant, oil and battery
if ((GET_RPM()>0) && (engine->sensors.vBatt<13)) {
setTxBit(6, 6); // battery light
}
if (getCoolantTemperature() > 105) {
setTxBit(6, 1); // coolant light, 101 - red zone, light means its get too hot
}
//oil pressure warning lamp bit is 7
txmsg.data8[7] = 0x00; //unused
sendCanMessage();
}
void canDashboardFiat(void) {
//Fiat Dashboard
commonTxInit(CAN_FIAT_MOTOR_INFO);
setShortValue(&txmsg, (int) (getCoolantTemperature() - 40), 3); //Coolant Temp
setShortValue(&txmsg, GET_RPM() / 32, 6); //RPM
sendCanMessage();
}
void canDashboardVAG(void) {
//VAG Dashboard
commonTxInit(CAN_VAG_RPM);
setShortValue(&txmsg, GET_RPM() * 4, 2); //RPM
sendCanMessage();
commonTxInit(CAN_VAG_CLT);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 1); //Coolant Temp
sendCanMessage();
commonTxInit(CAN_VAG_CLT_V2);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 4); //Coolant Temp
sendCanMessage();
commonTxInit(CAN_VAG_IMMO);
setShortValue(&txmsg, 0x80, 1);
sendCanMessage();
}
#endif // EFI_CAN_SUPPORT

13
firmware/controllers/can/can_dash.h Normal file
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@ -0,0 +1,13 @@
/**
* @file can_dash.h
*
* @date Mar 19, 2020
* @author Matthew Kennedy, (c) 2020
*/
#pragma once
void canDashboardBMW();
void canDashboardFiat();
void canDashboardVAG();
void canMazdaRX8();

48
firmware/controllers/can/can_tx.cpp Normal file
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@ -0,0 +1,48 @@
/**
* @file can_tx.cpp
*
* CAN transmission handling. This file handles the dispatch of various outgoing regularly scheduled CAN message types.
*
* @date Mar 19, 2020
* @author Matthew Kennedy, (c) 2020
*/
#include "globalaccess.h"
#if EFI_CAN_SUPPORT
#include "engine.h"
#include "can.h"
#include "can_hw.h"
#include "can_dash.h"
#include "obd2.h"
EXTERN_ENGINE;
CanWrite::CanWrite()
: PeriodicController("CAN TX", NORMALPRIO, 50)
{
}
void CanWrite::PeriodicTask(efitime_t nowNt) {
UNUSED(nowNt);
// Transmit dash data, if enabled
switch (CONFIG(canNbcType)) {
case CAN_BUS_NBC_BMW:
canDashboardBMW();
break;
case CAN_BUS_NBC_FIAT:
canDashboardFiat();
break;
case CAN_BUS_NBC_VAG:
canDashboardVAG();
break;
case CAN_BUS_MAZDA_RX8:
canMazdaRX8();
break;
default:
break;
}
}
#endif // EFI_CAN_SUPPORT

4
firmware/controllers/controllers.mk
View File

@ -36,9 +36,11 @@ CONTROLLERS_SRC_CPP = \
$(CONTROLLERS_DIR)/injector_central.cpp \
$(CONTROLLERS_DIR)/can/obd2.cpp \
$(CONTROLLERS_DIR)/can/can_rx.cpp \
$(CONTROLLERS_DIR)/can/can_tx.cpp \
$(CONTROLLERS_DIR)/can/can_dash.cpp \
$(CONTROLLERS_DIR)/engine_controller.cpp \
$(CONTROLLERS_DIR)/persistent_store.cpp \
CONTROLLERS_INC=\
$(CONTROLLERS_DIR) \

125
firmware/hw_layer/drivers/can/can_hw.cpp
View File

@ -15,14 +15,12 @@
#include "can.h"
#include "engine_configuration.h"
#include "periodic_thread_controller.h"
#include "pin_repository.h"
#include "can_hw.h"
#include "can_msg_tx.h"
#include "string.h"
#include "mpu_util.h"
#include "allsensors.h"
#include "vehicle_speed.h"
#include "engine.h"
EXTERN_ENGINE
;
@ -74,11 +72,6 @@ CAN_BTR_1k0 };
CANTxFrame txmsg;
static void setShortValue(CANTxFrame *txmsg, int value, int offset) {
txmsg->data8[offset] = value;
txmsg->data8[offset + 1] = value >> 8;
}
void setTxBit(int offset, int index) {
txmsg.data8[offset] = txmsg.data8[offset] | (1 << index);
}
@ -112,122 +105,6 @@ void sendCanMessage(int size) {
}
}
static void canDashboardBMW(void) {
//BMW Dashboard
commonTxInit(CAN_BMW_E46_SPEED);
setShortValue(&txmsg, 10 * 8, 1);
sendCanMessage();
commonTxInit(CAN_BMW_E46_RPM);
setShortValue(&txmsg, (int) (GET_RPM() * 6.4), 2);
sendCanMessage();
commonTxInit(CAN_BMW_E46_DME2);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 1);
sendCanMessage();
}
static void canMazdaRX8(void) {
commonTxInit(CAN_MAZDA_RX_STEERING_WARNING);
// todo: something needs to be set here? see http://rusefi.com/wiki/index.php?title=Vehicle:Mazda_Rx8_2004
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_RPM_SPEED);
float kph = getVehicleSpeed();
setShortValue(&txmsg, SWAP_UINT16(GET_RPM() * 4), 0);
setShortValue(&txmsg, 0xFFFF, 2);
setShortValue(&txmsg, SWAP_UINT16((int )(100 * kph + 10000)), 4);
setShortValue(&txmsg, 0, 6);
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_STATUS_1);
txmsg.data8[0] = 0xFE; //Unknown
txmsg.data8[1] = 0xFE; //Unknown
txmsg.data8[2] = 0xFE; //Unknown
txmsg.data8[3] = 0x34; //DSC OFF in combo with byte 5 Live data only seen 0x34
txmsg.data8[4] = 0x00; // B01000000; // Brake warning B00001000; //ABS warning
txmsg.data8[5] = 0x40; // TCS in combo with byte 3
txmsg.data8[6] = 0x00; // Unknown
txmsg.data8[7] = 0x00; // Unused
sendCanMessage();
commonTxInit(CAN_MAZDA_RX_STATUS_2);
txmsg.data8[0] = (uint8_t)(getCoolantTemperature() + 69); //temp gauge //~170 is red, ~165 last bar, 152 centre, 90 first bar, 92 second bar
txmsg.data8[1] = ((int16_t)(engine->engineState.vssEventCounter*(engineConfiguration->vehicleSpeedCoef*0.277*2.58))) & 0xff;
txmsg.data8[2] = 0x00; // unknown
txmsg.data8[3] = 0x00; //unknown
txmsg.data8[4] = 0x01; //Oil Pressure (not really a gauge)
txmsg.data8[5] = 0x00; //check engine light
txmsg.data8[6] = 0x00; //Coolant, oil and battery
if ((GET_RPM()>0) && (engine->sensors.vBatt<13)) {
setTxBit(6, 6); // battery light
}
if (getCoolantTemperature() > 105) {
setTxBit(6, 1); // coolant light, 101 - red zone, light means its get too hot
}
//oil pressure warning lamp bit is 7
txmsg.data8[7] = 0x00; //unused
sendCanMessage();
}
static void canDashboardFiat(void) {
//Fiat Dashboard
commonTxInit(CAN_FIAT_MOTOR_INFO);
setShortValue(&txmsg, (int) (getCoolantTemperature() - 40), 3); //Coolant Temp
setShortValue(&txmsg, GET_RPM() / 32, 6); //RPM
sendCanMessage();
}
static void canDashboardVAG(void) {
//VAG Dashboard
commonTxInit(CAN_VAG_RPM);
setShortValue(&txmsg, GET_RPM() * 4, 2); //RPM
sendCanMessage();
commonTxInit(CAN_VAG_CLT);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 1); //Coolant Temp
sendCanMessage();
commonTxInit(CAN_VAG_CLT_V2);
setShortValue(&txmsg, (int) ((getCoolantTemperature() + 48.373) / 0.75), 4); //Coolant Temp
sendCanMessage();
commonTxInit(CAN_VAG_IMMO);
setShortValue(&txmsg, 0x80, 1);
sendCanMessage();
}
class CanWrite final : public PeriodicController<256> {
public:
CanWrite()
: PeriodicController("CAN TX", NORMALPRIO, 50)
{
}
void PeriodicTask(efitime_t nowNt) {
UNUSED(nowNt);
switch (engineConfiguration->canNbcType) {
case CAN_BUS_NBC_BMW:
canDashboardBMW();
break;
case CAN_BUS_NBC_FIAT:
canDashboardFiat();
break;
case CAN_BUS_NBC_VAG:
canDashboardVAG();
break;
case CAN_BUS_MAZDA_RX8:
canMazdaRX8();
break;
default:
break;
}
}
};
class CanRead final : public ThreadController<256> {
public:
CanRead()

25
firmware/hw_layer/drivers/can/can_hw.h
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@ -12,31 +12,6 @@
#include "tunerstudio_configuration.h"
#endif /* EFI_TUNER_STUDIO */
// CAN Bus ID for broadcast
/**
* e46 data is from http://forums.bimmerforums.com/forum/showthread.php?1887229
*
* Same for Mini Cooper? http://vehicle-reverse-engineering.wikia.com/wiki/MINI
*
* All the below packets are using 500kb/s
*
*/
#define CAN_BMW_E46_SPEED 0x153
#define CAN_BMW_E46_RPM 0x316
#define CAN_BMW_E46_DME2 0x329
#define CAN_BMW_E46_CLUSTER_STATUS 0x613
#define CAN_BMW_E46_CLUSTER_STATUS_2 0x615
#define CAN_FIAT_MOTOR_INFO 0x561
#define CAN_MAZDA_RX_RPM_SPEED 0x201
#define CAN_MAZDA_RX_STEERING_WARNING 0x300
#define CAN_MAZDA_RX_STATUS_1 0x212
#define CAN_MAZDA_RX_STATUS_2 0x420
// https://wiki.openstreetmap.org/wiki/VW-CAN
#define CAN_VAG_RPM 0x280
#define CAN_VAG_CLT 0x288
#define CAN_VAG_CLT_V2 0x420
#define CAN_VAG_IMMO 0x3D0
void initCan(void);
void commonTxInit(int eid);
void sendCanMessage(int size = 8);